DA Makinesi Hız Kontrolünün Q-Öğrenme Tabanlı PID Kontrolör ile Gerçek-Zamanlı Uygulaması

Çalışmamızda Q-öğrenme tabanlı adaptif PID kontrolörün gerçek zamanlı bir sistemdeki performansı incelenmiştir. Gerçek zamanlı sistem olarak DA makine hız kontrolü sistemi tercih edilmiştir. DA makine sisteminden gelen hata sinyali üzerinden sistemin durum bilgisi ve Q-öğrenme yöntemi için ödül sinyali hesaplanmaktadır. Durum bilgisi ve ödül sinyali yardımı ile PID katsayıları artırılıp azaltılarak optimal katsayılara ulaşılmaktadır. Her PID katsayısı için bir adet Q-tablosu tanımlanmıştır. Simülasyon çalışması ve gerçek zamanlı uygulama ile kontrolör performansı incelenmiştir. Pekiştirmeli öğrenme ile tasarlanan kontrolcünün klasik PID yapısı gibi başarılı olduğu tespit edilmiştir.

Anahtar Kelimeler:

Pekiştirmeli öğrenme, Adaptif PID, DA makinesi

Real-Time Application of DC Machine Speed Control with Q-Learning Based PID Controller

In this study, the Q-learning based adaptive PID controller's performance has been examined on a real-time system. DC machine speed control system selected as a real-time system. The system’s state and reward signal are calculated by using the error signal of the DC machine speed control system. With the help of state and reward signals, the algorithm adjusts PID parameters to find the optimal solution. One Q-table is defined for each PID parameter. Controller performance was examined with a simulation study and real-time application. It has been determined that the controller designed with reinforcement learning is successful like the classical PID structure.

Keywords:

Reinforcement learning, Adaptive PID, DC machine,

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